External Parameter Calibration of Lidar and Camera Based on Line Feature

Fig. 4. Comparison of segmentation results for box selector based on BiSeNet-V2 and PIDNet. (a) RGB images; (b) segmentation results based on BiSeNet-V2; (c) segmentation results based on PIDNet

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Fig. 5. Experimental results of proposed algorithm on real vehicle dataset. (a) RGB images; (b) point cloud projection after adding rotational and translation error; (c) point cloud projection after calibration

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Table 1. Error of proposed algorithm on different sequence data

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Table 1. Error of proposed algorithm on different sequence data

Sequence	Translation absolute error /m				Rotation absolute error /（°）
Sequence	$e_{x}$	$e_{y}$	$e_{z}$	$\bar{e_{t}}$	$e_{r o l l}$	$e_{p i t c h}$	$e_{y a w}$	$\bar{e_{r}}$
1	0.036	0.028	0.042	0.035	0.105	0.591	0.136	0.277
2	0.025	0.041	0.023	0.030	0.019	0.302	0.137	0.153
3	0.036	0.031	0.033	0.033	0.068	0.469	0.245	0.261
4	0.031	0.035	0.036	0.034	0.067	0.556	0.181	0.268
5	0.025	0.026	0.033	0.028	0.133	0.485	0.197	0.272
6	0.033	0.027	0.035	0.032	0.178	0.605	0.107	0.297
7	0.030	0.031	0.037	0.033	0.082	0.747	0.131	0.320

Table 2. Error comparison between different methods

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Table 2. Error comparison between different methods

Method	Translation absolute error /m				Rotation absolute error /（°）
Method	$e_{x}$	$e_{y}$	$e_{z}$	$\bar{e_{t}}$	$e_{r o l l}$	$e_{p i t c h}$	$e_{y a w}$	$\bar{e_{r}}$
CRLF^［14］	0.018	0.069	0.015	0.034	0.322	0.613	0.395	0.443
Method in Ref. ［15］	0.033	0.061	0.042	0.045	0.173	0.297	0.325	0.265
Method in Ref. ［16］	0.042	0.036	0.033	0.037	0.381	0.542	0.344	0.422
Method in Ref. ［18］	―	―	―	0.034	―	―	―	0.414
Proposed method	0.031	0.031	0.034	0.032	0.093	0.536	0.162	0.264

Table 3. Comparison of running time for different methods
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Table 3. Comparison of running time for different methods
Method Image feature extraction Lidar feature extraction Calibration Total
CRLF^［14］ 0.014 0.196 1.123 1.333
Method in Ref. ［18］ ― ― 14.225 14.225
Proposed method 0.043 0.837 0.536 1.416

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Wang Zheng, Hongfei Yu, Jin Lü. External Parameter Calibration of Lidar and Camera Based on Line Feature[J]. Laser & Optoelectronics Progress, 2024, 61(22): 2215002

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